source: flair-src/trunk/demos/OpticalFlow/uav/src/main.cpp @ 122

Last change on this file since 122 was 122, checked in by Sanahuja Guillaume, 5 years ago

modifs uav vrpn i686

File size: 2.9 KB
Line 
1//  created:    2011/05/01
2//  filename:   main.cpp
3//
4//  author:     Guillaume Sanahuja
5//              Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7//  version:    $Id: $
8//
9//  purpose:    exemple de code x4
10//
11//
12/*********************************************************************/
13
14#include "DemoOpticalFlow.h"
15#include <UavFactory.h>
16#include <FrameworkManager.h>
17#include <stdio.h>
18#include <tclap/CmdLine.h>
19#include <TargetEthController.h>
20#include <init.h>
21
22using namespace TCLAP;
23using namespace std;
24using namespace flair::core;
25using namespace flair::meta;
26using namespace flair::sensor;
27
28string uav_type;
29string dsp_file;
30string log_path;
31int port;
32int ds3port;
33string xml_file;
34string name;
35string address;
36
37void parseOptions(int argc, char** argv);
38
39
40int main(int argc, char* argv[]) {
41    parseOptions(argc,argv);
42
43    FrameworkManager *manager;
44    manager= new FrameworkManager(name);
45    manager->SetupConnection(address,port);
46    manager->SetupUserInterface(xml_file);
47    manager->SetupLogger(log_path);
48    SetupDSP(dsp_file);
49
50    Uav* drone=CreateUav(name,uav_type);
51    TargetEthController *controller=new TargetEthController(manager,"Dualshock3",ds3port);
52    DemoOpticalFlow* demo=new DemoOpticalFlow(controller);
53
54    demo->Start();
55    demo->Join();
56
57    delete manager;
58
59    CloseDSP();
60}
61
62void parseOptions(int argc, char** argv)
63{
64        try
65        {
66
67        CmdLine cmd("Command description message", ' ', "0.1");
68
69        ValueArg<string> nameArg("n","name","uav name",true,"x4","string");
70        cmd.add( nameArg );
71
72        ValueArg<string> typeArg("t","type","uav type: ardrone2, hds_x4, hds_x8, hds_xufo, hds_simu or hds_simux (with x the number of the simulated uav)",true,"hds_x4","string");
73        cmd.add( typeArg );
74
75        ValueArg<string> dspArg("v","dsp","executable dsp",true,"./dspcv_dsp.out","string");
76        cmd.add( dspArg );
77
78        ValueArg<string> xmlArg("x","xml","fichier xml",true,"./reglages.xml","string");
79        cmd.add( xmlArg );
80
81        ValueArg<string> logsArg("l","logs","repertoire des logs",true,"/media/ram","string");
82        cmd.add( logsArg );
83
84        ValueArg<int> portArg("p","port","port pour station sol",true,9000,"int");
85        cmd.add( portArg );
86
87        ValueArg<string> addressArg("a","address","addresse station sol",true,"127.0.0.1","string");
88        cmd.add( addressArg );
89
90        ValueArg<int> ds3portArg("d","ds3_port","port pour ds3",false,20000,"int");
91        cmd.add( ds3portArg );
92
93        cmd.parse( argc, argv );
94
95        // Get the value parsed by each arg.
96        uav_type=typeArg.getValue();
97        dsp_file = dspArg.getValue();
98        log_path = logsArg.getValue();
99        port=portArg.getValue();
100        ds3port=ds3portArg.getValue();
101        xml_file = xmlArg.getValue();
102        name=nameArg.getValue();
103        address=addressArg.getValue();
104
105        } catch (ArgException &e)  // catch any exceptions
106        { cerr << "error: " << e.error() << " for arg " << e.argId() << endl; }
107}
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